Named by my flat mate, I've managed to interface an arduino with a robosapien v1 by tapping into the IR In line and pulsing a line to simulate commands (originally they would come from the remote control). I've set it up so you pass a number by serial and it converts this into binary, moves through the binary and pulses the appropriate code. Now to start making it do more!Will add some pictures later.

More of an update, I've developed the code to wait for input of a number (which corresponds to a command) however if there is no input after a period of time the arduino programs the robosapien to go into Guard Mode (http://www.wowwee.com/robosapien/pdf/RSSentrySecret_117_04.pdf) where it'll roar and attack any loud noise made in front of it.

I've now added a radiomodem so that I can control it wirelessly - the 'robot/toy' has a load of built-in commands such as walk forward or move left arm which can be now controlled from a computer. The plan now is to add some sensors so that it knows where it is and then perhaps a little intelligence - who knows.

I know it's been a while since anyone posted in this thread, but i have recently picked up a robosapien and a roboquad for next to nothing. The robosapien actually is complete and works perfectly. The roboquad suffered a size 12 shoe to the remote, and lost all of it's transistorized goodness. So I can't control it at all. I know the quad works for sure... just no remote.

I found this thread with the thought of being able to program the rsv1 or rquad with the arduino's that i already have.

I can't get the codes above to work at all. I have tapped the white ir wire in the head.. attached to pin 8. I thought at first that i had the wrong end of the wire attached to the pin. It doesn't make a difference what pin i use.